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Autonomous integrity monitoring method suitable for GNSS (Global Navigation Satellite System) vector tracking

A technology of integrity monitoring and vector tracking, which is applied in the field of satellite navigation and positioning, can solve the problems of difficult application of satellite navigation receivers, RAIM algorithm can not be applied to vector tracking loops, etc., and achieve the effect of high computing efficiency

Active Publication Date: 2019-02-05
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] The existing RAIM algorithm cannot be applied to the vector tracking loop, and fault diagnosis requires the number of redundant satellites and satellite constellation arrangement, which is difficult to apply to satellite navigation receivers in complex environments

Method used

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  • Autonomous integrity monitoring method suitable for GNSS (Global Navigation Satellite System) vector tracking
  • Autonomous integrity monitoring method suitable for GNSS (Global Navigation Satellite System) vector tracking
  • Autonomous integrity monitoring method suitable for GNSS (Global Navigation Satellite System) vector tracking

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Embodiment Construction

[0035] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0036] Such as figure 1 Shown is the algorithm execution process of the present invention, the present invention provides a kind of self-integrity monitoring method that is applicable to GNSS vector tracking, comprises the following steps:

[0037] Step 1, extracting satellite information and calculating the position of the satellite;

[0038] After the receiver synchronizes the frame of the satellite signal, it extracts the navigation message of the satellite and calculates the position and speed information of the satellite.

[0039] Step 2. Determine the measurement relationship matrix H according to the satellite position and the positioning results of the receiver K ;

[0040] The relationship between code phase error and carrier position error is as follows:

[0041]

[0042] in is a vector consisting of the code phase discriminator outputs ...

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Abstract

The invention discloses an autonomous integrity monitoring method suitable for GNSS (Global Navigation Satellite System) vector tracking. The method comprises the following steps that: 1) extracting satellite information, and calculating the position of a satellite; 2) determining a measurement relationship matrix H<K> according to the position of the satellite and a positioning result of a receiver; 3) constructing test statistics Z<k><2> according to the measurement relationship matrix H<K> and a code phase error; 4) setting a P<FA> (Probability of False Alarm), setting a test statistics threshold T according to the P<FA>, and comparing the test statistics Z<k><2> with the threshold to finish statistics testing; 5) calculating an error PL (Protection Limit) according to the positioning result of the receiver and P<HMI> (Probability Hazardously Misleading Information); and 6) if the PL is smaller than an error threshold AL and Z<k><2> is smaller than the threshold T, proving that a vector tracking loop is under a normal working state, if PL is smaller than AL but Z<k><2> is greater than or equal to the threshold T, closing a corresponding fault satellite channel, and if the PL exceeds the AL, immediately giving an alarm to the system. By use of the method, error coupling between satellite signal tracking channels can be avoided, and the anti-jamming capability andthe reliability of the receiver are improved.

Description

technical field [0001] The invention relates to satellite navigation and positioning technology in the communication field, in particular to an autonomous integrity monitoring method suitable for GNSS vector tracking. Background technique [0002] The global satellite navigation system can provide location, speed and time information in real time around the clock, and has become an indispensable source of navigation information for low-cost guided weapons. In complex electromagnetic environment and high dynamic environment, the receiving environment of navigation satellite signal is not ideal. To solve this problem, some scholars proposed a more advanced vector tracking loop. Compared with traditional tracking methods, vector tracking has the advantages of tracking weaker satellite signals, bridging satellite signals that are momentarily blocked, and enduring high dynamics of users. It is generally believed in the world that vector tracking technology has broad development...

Claims

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Application Information

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IPC IPC(8): G01S19/42G01S19/24G01S19/30
CPCG01S19/24G01S19/30G01S19/42
Inventor 李传军李兴城王文彤
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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